Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 276 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 14 TGT_DEFAULT_LAT 7100 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 276 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 702.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 480 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 650 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 135

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 160 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 195 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00061896152

USE_BATHY 0 PITCH_MIN 208 MINV_24V 11 SEABIRD_T_I 2.1649632e-05

USE_ICE 0 PITCH_MAX 3950 MINV_10V 11 SEABIRD_T_J 2.1628491e-06

ICE_FREEZE_MARGIN 0.050000001 C_PITCH 2580 MAXI_24V 0.60000002 SEABIRD_C_G -9.8804169

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_C_H 1.1388741

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0017082796

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021409935

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 38 PRESSURE_YINT -162.29706 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 CP_RECORDABOVE 1000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 CP_PROFILE 3.0

MASS 55566 PITCH_ADJ_DBAND 1 COMPASS_USE 4 CP_XMITPROFILE 0.0

MASS_COMP 0 ROLL_MIN 218 ALTIM_BOTTOM_PING_RANGE 0 CP_UPLOADMAX 100000.0

NAV_MODE 2 ROLL_MAX 3787 ALTIM_TOP_PING_RANGE 0 CP_STARTS 771.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 771.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 27 VBD_MIN 500

DIVE 276 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070917,222857,7525.5815,-15117.1289,28,0.8,39,20.7,0.5,245.7,11,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 349.2,32570,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.1 D_GRID 480

GPS2 070917,224218,7525.5903,-15117.2354,2,0.7,17,20.7,0.0,79.9,11,9.3

Post-dive calculations and measurements:

FINISH 0.3,1.021547 _24V_AH 12.28,174.783

SM_CCo 9066,45.10,0.202,0,0,498,702.78 _10V_AH 12.15,0.000

SM_GC 1.32,8.27,0.17,45.10,0.082,0.116,0.202,204,2228,498,-7.38,-0.74,702.78,0,0,0,0,0,0,14.28,14.29,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 208 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323420

IRIDIUM_FIX 7528.91,-15123.37,070917,195234 DATA_FILE_SIZE 26695,729

TT8_MAMPS 0.039697,0.957971 CAP_FILE_SIZE 100568,0

HUMID 46.81 CFSIZE 2097872896,2006974464

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1446.5

XPDR_PINGS 20 CURRENT 0.025,276.01,1

CP_FREE 15954411520.000000 GPS 080917,011604,7526.830,-15115.795,36,0.7,38,20.7,1.0,306.2,12,7.3

PM_FREEKB_00 49807296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 144.52 nil 0 0 0.00

Roll_motor 79 2138 2092.10 nil 0 0 0.00

VBD_pump_during_apogee 943 1511 17509.96 nil 0 0 0.00

VBD_pump_during_surface 45 201 111.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 5390 14 965.83

Iridium_during_xfer 362 136 606.62 NCP 9030 20 2217.77

Transponder_ping 5 420 25.79 PMAR 9002 9 1092.95

GUMSTIX_24V 0 0 0.00

GPS 26 22 7.21

TT8 0 0 0.00

LPSleep 6785 2 190.44

TT8_Active 899 13 152.65

TT8_Sampling 2008 33 816.15

TT8_CF8 233 38 109.54

TT8_Kalman 0 0 0.00

Analog_circuits 2058 10 250.15

GPS_charging 0 0 0.00

Compass 1043 7 88.79

RAFOS 2150 48 1253.88

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

47 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 167 2220 506 470 0.0 0.0 0 143 0.00 0.00 -91.15 0.000 16386 0.000 0.000 164 2220 2159 2087 2231 0 0 0 0 0 0 14.59 28.83 14.62

146 -0.57 -145.9 165 2221 2090 2231 3.8 -5.3 9 203 13.05 2.78 -35.45 0.000 18724 0.457 2.139 2369 3595 3962 3945 3979 0 0 0 0 0 0 13.58 12.55 14.11

289 -0.71 -145.9 2369 3596 3951 3980 37.8 -13.5 37 294 0.00 2.38 0.00 0.000 1158 0.000 0.060 2369 2197 3964 3950 3979 0 0 0 0 0 0 14.31 14.19 14.35

599 -0.82 -145.9 2370 2196 3953 3978 83.2 -11.3 69 600 0.17 0.00 0.00 0.000 4230 0.117 0.000 2301 2195 3965 3952 3979 0 0 0 0 0 0 14.28 14.39 14.36

919 -0.85 -145.9 2301 2196 3952 3979 131.2 -13.9 87 924 0.00 2.42 0.00 0.000 388 0.000 0.087 2293 3604 3965 3951 3979 0 0 0 0 0 0 14.70 14.16 14.71

984 -0.98 -145.9 2293 3608 3952 3980 139.5 -11.6 100 990 0.00 2.38 0.00 0.000 1158 0.000 0.058 2293 2198 3965 3952 3978 0 0 0 0 0 0 14.31 14.19 14.35

1310 -1.04 -145.9 2293 2198 3953 3979 180.5 -12.1 115 1315 0.12 2.45 0.00 0.000 4484 0.138 0.086 2236 3595 3965 3952 3978 0 0 0 0 0 0 14.35 14.19 14.39

1390 -1.07 -145.9 2236 3596 3952 3979 192.4 -14.6 131 1395 0.00 2.38 0.00 0.000 1158 0.000 0.058 2235 2193 3964 3951 3978 0 0 0 0 0 0 14.34 14.21 14.37

1700 -1.04 -145.9 2236 2193 3952 3979 243.4 -15.9 143 1705 0.00 2.47 0.00 0.000 388 0.000 0.087 2231 3601 3964 3950 3978 0 0 0 0 0 0 14.71 14.19 14.73

1760 -1.09 -145.9 2231 3603 3952 3980 252.0 -13.3 155 1765 0.00 2.38 0.00 0.000 1158 0.000 0.057 2231 2200 3965 3951 3979 0 0 0 0 0 0 14.38 14.25 14.41

2090 -1.09 -145.9 2231 2200 3952 3979 297.3 -13.4 171 2095 0.00 2.45 0.00 0.000 260 0.000 0.088 2222 3597 3965 3952 3979 0 0 0 0 0 0 14.71 14.17 14.73

2166 -1.15 -145.9 2223 3598 3952 3979 307.0 -12.2 186 2170 0.00 2.35 0.00 0.000 1158 0.000 0.057 2223 2201 3964 3951 3978 0 0 0 0 0 0 14.38 14.23 14.41

2480 -1.15 -145.9 2223 2201 3952 3979 348.3 -13.0 199 2485 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3603 3964 3951 3978 0 0 0 0 0 0 14.72 14.16 14.74

2565 -1.24 -145.9 2223 3603 3952 3978 358.5 -11.3 216 2573 0.12 2.38 0.00 0.000 5254 0.134 0.058 2168 2196 3964 3951 3978 0 0 0 0 0 0 14.27 14.23 14.38

2871 -1.13 -145.9 2169 2196 3952 3977 412.0 -17.8 227 2876 0.17 2.47 0.00 0.000 2436 0.310 0.083 2197 3602 3964 3951 3978 0 0 0 0 0 0 13.83 14.16 14.02

2998 -1.17 -145.9 2197 3604 3951 3979 429.5 -13.0 252 3004 0.00 2.38 0.00 0.000 1158 0.000 0.057 2197 2201 3964 3950 3978 0 0 0 0 0 0 14.34 14.23 14.40

3324 -1.14 -145.9 2198 2200 3952 3977 476.0 -14.2 267 3329 0.00 2.45 0.00 0.000 388 0.000 0.085 2186 3600 3963 3950 3977 0 0 0 0 0 0 14.74 14.18 14.76

3352 end dive: TARGET_DEPTH_EXCEEDED

state 3352 begin apogee

3360 -0.13 0.0 2187 2098 3951 3978 480.5 -14.8 273 3596 1.38 0.00 228.55 1.401 10246 0.243 0.000 2530 2097 3359 3379 3339 0 0 0 0 0 0 13.80 13.27 12.65

3599 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3602 0.57 145.9 2532 2098 3378 3338 494.0 0.0 281 3819 0.73 2.67 212.70 1.370 10500 0.063 0.071 2777 3497 2765 2807 2723 0 0 0 0 0 0 13.67 12.90 12.28

3920 0.09 145.9 2778 3497 2787 2719 491.8 15.6 341 3925 0.85 2.53 0.00 0.000 5254 0.345 0.057 2619 2091 2752 2786 2718 0 0 0 0 0 0 13.18 13.49 13.54

4251 -0.00 187.6 2619 2091 2787 2714 463.6 8.1 357 4317 0.12 2.53 58.28 1.420 12964 0.291 0.086 2590 694 2593 2644 2543 0 0 0 0 0 0 13.82 13.88 13.06

4373 0.06 232.6 2590 694 2641 2538 454.3 7.9 381 4448 0.00 2.50 68.28 1.377 9382 0.000 0.080 2590 2094 2411 2470 2353 0 0 0 0 0 0 14.13 14.00 12.93

4763 0.12 267.3 2591 2093 2457 2335 421.3 8.4 409 4817 0.00 0.00 52.08 1.379 8358 0.000 0.000 2590 2094 2276 2331 2222 0 0 0 0 0 0 14.41 13.92 13.12

5093 0.20 300.6 2591 2094 2321 2204 393.1 8.5 420 5146 0.15 0.00 50.45 1.381 10918 0.116 0.000 2662 2094 2139 2188 2090 0 0 0 0 0 0 14.14 13.93 13.14

5423 0.14 300.6 2664 2094 2179 2072 349.3 13.4 436 5429 0.12 2.50 0.00 0.000 4740 0.258 0.084 2639 688 2123 2174 2072 0 0 0 0 0 0 13.87 14.08 14.01

5494 0.19 300.6 2639 689 2173 2072 341.2 10.6 450 5499 0.00 2.47 0.00 0.000 1158 0.000 0.077 2639 2103 2122 2172 2072 0 0 0 0 0 0 14.14 13.97 14.21

5814 0.19 300.6 2639 2104 2172 2071 304.9 11.2 464 5815 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2110 2120 2171 2070 0 0 0 0 0 0 14.48 14.50 14.50

6114 0.19 300.6 2640 2105 2173 2068 273.2 10.2 474 6119 0.00 2.53 0.00 0.000 516 0.000 0.086 2644 692 2121 2173 2069 0 0 0 0 0 0 14.48 14.09 14.50

6184 0.25 310.3 2644 693 2171 2068 266.3 9.5 488 6194 0.00 2.47 4.12 1.512 9382 0.000 0.078 2644 2105 2099 2149 2049 0 0 0 0 0 0 14.19 14.06 13.03

6505 0.26 331.9 2645 2105 2158 2055 236.2 9.0 502 6553 0.00 0.00 45.97 1.358 8230 0.000 0.000 2644 2105 2012 2059 1965 0 0 0 0 0 0 14.47 14.00 13.21

6837 0.33 371.8 2645 2105 2047 1948 208.3 8.2 513 6918 0.12 2.58 69.78 1.274 10916 0.125 0.088 2703 693 1843 1873 1814 0 0 0 0 0 0 14.14 13.88 13.15

7008 0.33 371.8 2704 692 1860 1812 188.4 11.6 547 7013 0.00 2.50 0.00 0.000 1030 0.000 0.077 2704 2099 1834 1858 1811 0 0 0 0 0 0 14.09 13.99 14.13

7320 0.31 371.8 2704 2100 1859 1806 153.9 10.8 559 7321 0.00 0.00 0.00 0.000 134 0.000 0.000 2709 2097 1831 1858 1805 0 0 0 0 0 0 14.53 14.54 14.54

7618 0.31 371.8 2704 2100 1859 1803 123.0 10.0 569 7619 0.00 0.00 0.00 0.000 6 0.000 0.000 2704 2099 1829 1857 1802 0 0 0 0 0 0 14.60 14.62 14.62

7918 0.33 403.5 2704 2100 1858 1802 95.2 8.5 581 7941 0.00 2.55 16.17 0.473 8740 0.000 0.087 2703 691 1721 1746 1697 0 0 0 0 0 0 14.59 14.11 13.61

8038 0.45 460.6 2707 691 1752 1700 85.9 7.4 604 8080 0.00 2.47 34.78 0.451 9382 0.000 0.079 2704 2101 1485 1520 1450 0 0 0 0 0 0 14.23 14.10 13.66

8385 0.61 547.5 2704 2101 1521 1451 60.9 6.0 643 8440 0.20 2.55 49.97 0.376 10660 0.096 0.082 2789 3511 1132 1194 1070 0 0 0 0 0 0 14.28 14.00 13.67

8501 0.66 547.5 2789 3512 1196 1076 48.9 10.1 665 8506 0.00 2.47 0.00 0.000 1158 0.000 0.067 2794 2097 1132 1190 1074 0 0 0 0 0 0 14.13 14.00 14.16

8811 0.79 636.3 2794 2095 1197 1070 23.8 5.9 697 8869 0.12 2.50 52.15 0.265 10916 0.133 0.086 2863 689 767 832 702 0 0 0 0 0 0 14.26 13.86 13.67

8911 0.82 636.3 2864 685 834 703 15.1 10.8 715 8917 0.00 2.47 0.00 0.000 1158 0.000 0.074 2863 2099 768 833 704 0 0 0 0 0 0 14.00 13.66 14.07

9032 end climb: SURFACE_DEPTH_REACHED

state 9032 begin surface coast

9042 end surface coast: CONTROL_FINISHED_OK

state 9042 begin surface

ID	196	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	14	TGT_DEFAULT_LAT	7100	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	276	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	702.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	480	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	650	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	135
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	160	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	195	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00061896152
USE_BATHY	0	PITCH_MIN	208	MINV_24V	11	SEABIRD_T_I	2.1649632e-05
USE_ICE	0	PITCH_MAX	3950	MINV_10V	11	SEABIRD_T_J	2.1628491e-06
ICE_FREEZE_MARGIN	0.050000001	C_PITCH	2580	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8804169
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_C_H	1.1388741
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0017082796
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021409935
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	38	PRESSURE_YINT	-162.29706	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	CP_RECORDABOVE	1000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	CP_PROFILE	3.0
MASS	55566	PITCH_ADJ_DBAND	1	COMPASS_USE	4	CP_XMITPROFILE	0.0
MASS_COMP	0	ROLL_MIN	218	ALTIM_BOTTOM_PING_RANGE	0	CP_UPLOADMAX	100000.0
NAV_MODE	2	ROLL_MAX	3787	ALTIM_TOP_PING_RANGE	0	CP_STARTS	771.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,222857,7525.5815,-15117.1289,28,0.8,39,20.7,0.5,245.7,11,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	349.2,32570,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.1	D_GRID	480
GPS2	070917,224218,7525.5903,-15117.2354,2,0.7,17,20.7,0.0,79.9,11,9.3

FINISH	0.3,1.021547	_24V_AH	12.28,174.783
SM_CCo	9066,45.10,0.202,0,0,498,702.78	_10V_AH	12.15,0.000
SM_GC	1.32,8.27,0.17,45.10,0.082,0.116,0.202,204,2228,498,-7.38,-0.74,702.78,0,0,0,0,0,0,14.28,14.29,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	208	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323420
IRIDIUM_FIX	7528.91,-15123.37,070917,195234	DATA_FILE_SIZE	26695,729
TT8_MAMPS	0.039697,0.957971	CAP_FILE_SIZE	100568,0
HUMID	46.81	CFSIZE	2097872896,2006974464
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1446.5
XPDR_PINGS	20	CURRENT	0.025,276.01,1
CP_FREE	15954411520.000000	GPS	080917,011604,7526.830,-15115.795,36,0.7,38,20.7,1.0,306.2,12,7.3
PM_FREEKB_00	49807296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	144.52	nil	0	0	0.00
Roll_motor	79	2138	2092.10	nil	0	0	0.00
VBD_pump_during_apogee	943	1511	17509.96	nil	0	0	0.00
VBD_pump_during_surface	45	201	111.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	5390	14	965.83
Iridium_during_xfer	362	136	606.62	NCP	9030	20	2217.77
Transponder_ping	5	420	25.79	PMAR	9002	9	1092.95
GUMSTIX_24V	0	0	0.00
GPS	26	22	7.21
TT8	0	0	0.00
LPSleep	6785	2	190.44
TT8_Active	899	13	152.65
TT8_Sampling	2008	33	816.15
TT8_CF8	233	38	109.54
TT8_Kalman	0	0	0.00
Analog_circuits	2058	10	250.15
GPS_charging	0	0	0.00
Compass	1043	7	88.79
RAFOS	2150	48	1253.88
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
47	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	167	2220	506	470	0.0	0.0	0	143	0.00	0.00	-91.15	0.000	16386	0.000	0.000	164	2220	2159	2087	2231	0	0	0	0	0	0	14.59	28.83	14.62
146	-0.57	-145.9	165	2221	2090	2231	3.8	-5.3	9	203	13.05	2.78	-35.45	0.000	18724	0.457	2.139	2369	3595	3962	3945	3979	0	0	0	0	0	0	13.58	12.55	14.11
289	-0.71	-145.9	2369	3596	3951	3980	37.8	-13.5	37	294	0.00	2.38	0.00	0.000	1158	0.000	0.060	2369	2197	3964	3950	3979	0	0	0	0	0	0	14.31	14.19	14.35
599	-0.82	-145.9	2370	2196	3953	3978	83.2	-11.3	69	600	0.17	0.00	0.00	0.000	4230	0.117	0.000	2301	2195	3965	3952	3979	0	0	0	0	0	0	14.28	14.39	14.36
919	-0.85	-145.9	2301	2196	3952	3979	131.2	-13.9	87	924	0.00	2.42	0.00	0.000	388	0.000	0.087	2293	3604	3965	3951	3979	0	0	0	0	0	0	14.70	14.16	14.71
984	-0.98	-145.9	2293	3608	3952	3980	139.5	-11.6	100	990	0.00	2.38	0.00	0.000	1158	0.000	0.058	2293	2198	3965	3952	3978	0	0	0	0	0	0	14.31	14.19	14.35
1310	-1.04	-145.9	2293	2198	3953	3979	180.5	-12.1	115	1315	0.12	2.45	0.00	0.000	4484	0.138	0.086	2236	3595	3965	3952	3978	0	0	0	0	0	0	14.35	14.19	14.39
1390	-1.07	-145.9	2236	3596	3952	3979	192.4	-14.6	131	1395	0.00	2.38	0.00	0.000	1158	0.000	0.058	2235	2193	3964	3951	3978	0	0	0	0	0	0	14.34	14.21	14.37
1700	-1.04	-145.9	2236	2193	3952	3979	243.4	-15.9	143	1705	0.00	2.47	0.00	0.000	388	0.000	0.087	2231	3601	3964	3950	3978	0	0	0	0	0	0	14.71	14.19	14.73
1760	-1.09	-145.9	2231	3603	3952	3980	252.0	-13.3	155	1765	0.00	2.38	0.00	0.000	1158	0.000	0.057	2231	2200	3965	3951	3979	0	0	0	0	0	0	14.38	14.25	14.41
2090	-1.09	-145.9	2231	2200	3952	3979	297.3	-13.4	171	2095	0.00	2.45	0.00	0.000	260	0.000	0.088	2222	3597	3965	3952	3979	0	0	0	0	0	0	14.71	14.17	14.73
2166	-1.15	-145.9	2223	3598	3952	3979	307.0	-12.2	186	2170	0.00	2.35	0.00	0.000	1158	0.000	0.057	2223	2201	3964	3951	3978	0	0	0	0	0	0	14.38	14.23	14.41
2480	-1.15	-145.9	2223	2201	3952	3979	348.3	-13.0	199	2485	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3603	3964	3951	3978	0	0	0	0	0	0	14.72	14.16	14.74
2565	-1.24	-145.9	2223	3603	3952	3978	358.5	-11.3	216	2573	0.12	2.38	0.00	0.000	5254	0.134	0.058	2168	2196	3964	3951	3978	0	0	0	0	0	0	14.27	14.23	14.38
2871	-1.13	-145.9	2169	2196	3952	3977	412.0	-17.8	227	2876	0.17	2.47	0.00	0.000	2436	0.310	0.083	2197	3602	3964	3951	3978	0	0	0	0	0	0	13.83	14.16	14.02
2998	-1.17	-145.9	2197	3604	3951	3979	429.5	-13.0	252	3004	0.00	2.38	0.00	0.000	1158	0.000	0.057	2197	2201	3964	3950	3978	0	0	0	0	0	0	14.34	14.23	14.40
3324	-1.14	-145.9	2198	2200	3952	3977	476.0	-14.2	267	3329	0.00	2.45	0.00	0.000	388	0.000	0.085	2186	3600	3963	3950	3977	0	0	0	0	0	0	14.74	14.18	14.76
3352	end dive: TARGET_DEPTH_EXCEEDED
state	3352	begin apogee
3360	-0.13	0.0	2187	2098	3951	3978	480.5	-14.8	273	3596	1.38	0.00	228.55	1.401	10246	0.243	0.000	2530	2097	3359	3379	3339	0	0	0	0	0	0	13.80	13.27	12.65
3599	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3602	0.57	145.9	2532	2098	3378	3338	494.0	0.0	281	3819	0.73	2.67	212.70	1.370	10500	0.063	0.071	2777	3497	2765	2807	2723	0	0	0	0	0	0	13.67	12.90	12.28
3920	0.09	145.9	2778	3497	2787	2719	491.8	15.6	341	3925	0.85	2.53	0.00	0.000	5254	0.345	0.057	2619	2091	2752	2786	2718	0	0	0	0	0	0	13.18	13.49	13.54
4251	-0.00	187.6	2619	2091	2787	2714	463.6	8.1	357	4317	0.12	2.53	58.28	1.420	12964	0.291	0.086	2590	694	2593	2644	2543	0	0	0	0	0	0	13.82	13.88	13.06
4373	0.06	232.6	2590	694	2641	2538	454.3	7.9	381	4448	0.00	2.50	68.28	1.377	9382	0.000	0.080	2590	2094	2411	2470	2353	0	0	0	0	0	0	14.13	14.00	12.93
4763	0.12	267.3	2591	2093	2457	2335	421.3	8.4	409	4817	0.00	0.00	52.08	1.379	8358	0.000	0.000	2590	2094	2276	2331	2222	0	0	0	0	0	0	14.41	13.92	13.12
5093	0.20	300.6	2591	2094	2321	2204	393.1	8.5	420	5146	0.15	0.00	50.45	1.381	10918	0.116	0.000	2662	2094	2139	2188	2090	0	0	0	0	0	0	14.14	13.93	13.14
5423	0.14	300.6	2664	2094	2179	2072	349.3	13.4	436	5429	0.12	2.50	0.00	0.000	4740	0.258	0.084	2639	688	2123	2174	2072	0	0	0	0	0	0	13.87	14.08	14.01
5494	0.19	300.6	2639	689	2173	2072	341.2	10.6	450	5499	0.00	2.47	0.00	0.000	1158	0.000	0.077	2639	2103	2122	2172	2072	0	0	0	0	0	0	14.14	13.97	14.21
5814	0.19	300.6	2639	2104	2172	2071	304.9	11.2	464	5815	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2110	2120	2171	2070	0	0	0	0	0	0	14.48	14.50	14.50
6114	0.19	300.6	2640	2105	2173	2068	273.2	10.2	474	6119	0.00	2.53	0.00	0.000	516	0.000	0.086	2644	692	2121	2173	2069	0	0	0	0	0	0	14.48	14.09	14.50
6184	0.25	310.3	2644	693	2171	2068	266.3	9.5	488	6194	0.00	2.47	4.12	1.512	9382	0.000	0.078	2644	2105	2099	2149	2049	0	0	0	0	0	0	14.19	14.06	13.03
6505	0.26	331.9	2645	2105	2158	2055	236.2	9.0	502	6553	0.00	0.00	45.97	1.358	8230	0.000	0.000	2644	2105	2012	2059	1965	0	0	0	0	0	0	14.47	14.00	13.21
6837	0.33	371.8	2645	2105	2047	1948	208.3	8.2	513	6918	0.12	2.58	69.78	1.274	10916	0.125	0.088	2703	693	1843	1873	1814	0	0	0	0	0	0	14.14	13.88	13.15
7008	0.33	371.8	2704	692	1860	1812	188.4	11.6	547	7013	0.00	2.50	0.00	0.000	1030	0.000	0.077	2704	2099	1834	1858	1811	0	0	0	0	0	0	14.09	13.99	14.13
7320	0.31	371.8	2704	2100	1859	1806	153.9	10.8	559	7321	0.00	0.00	0.00	0.000	134	0.000	0.000	2709	2097	1831	1858	1805	0	0	0	0	0	0	14.53	14.54	14.54
7618	0.31	371.8	2704	2100	1859	1803	123.0	10.0	569	7619	0.00	0.00	0.00	0.000	6	0.000	0.000	2704	2099	1829	1857	1802	0	0	0	0	0	0	14.60	14.62	14.62
7918	0.33	403.5	2704	2100	1858	1802	95.2	8.5	581	7941	0.00	2.55	16.17	0.473	8740	0.000	0.087	2703	691	1721	1746	1697	0	0	0	0	0	0	14.59	14.11	13.61
8038	0.45	460.6	2707	691	1752	1700	85.9	7.4	604	8080	0.00	2.47	34.78	0.451	9382	0.000	0.079	2704	2101	1485	1520	1450	0	0	0	0	0	0	14.23	14.10	13.66
8385	0.61	547.5	2704	2101	1521	1451	60.9	6.0	643	8440	0.20	2.55	49.97	0.376	10660	0.096	0.082	2789	3511	1132	1194	1070	0	0	0	0	0	0	14.28	14.00	13.67
8501	0.66	547.5	2789	3512	1196	1076	48.9	10.1	665	8506	0.00	2.47	0.00	0.000	1158	0.000	0.067	2794	2097	1132	1190	1074	0	0	0	0	0	0	14.13	14.00	14.16
8811	0.79	636.3	2794	2095	1197	1070	23.8	5.9	697	8869	0.12	2.50	52.15	0.265	10916	0.133	0.086	2863	689	767	832	702	0	0	0	0	0	0	14.26	13.86	13.67
8911	0.82	636.3	2864	685	834	703	15.1	10.8	715	8917	0.00	2.47	0.00	0.000	1158	0.000	0.074	2863	2099	768	833	704	0	0	0	0	0	0	14.00	13.66	14.07
9032	end climb: SURFACE_DEPTH_REACHED
state	9032	begin surface coast
9042	end surface coast: CONTROL_FINISHED_OK
state	9042	begin surface